Author: LOVRO ZORIČIĆ
Mentor: prof.dr.sc. ŽELJKO ŠITUM
Faculty Faculty of Mechanical Engineering and Naval Architecture, Zagreb
A pneumatic robotic manipulator with three degrees of freedom of movement with an adjustable gripper was designed and built. This type of manipulator can be used to perform uniform tasks of moving objects of irregular geometric shape. The advantage of a gripper with an adjustable shape over conventional grippers is that there is no need to stop the operation of the manipulator and replace the working tool if objects of different shapes are found in the working space of the manipulator. The manipulator is made using various types of pneumatic actuators to achieve translational and rotational motion, and the flexible gripper is inspired by the so-called with soft robotics and is made using materials that can be found in every household.
The control system of the manipulator consists of PLC CONTROLLINO MINI and electromagnetic 4/2 distributors.